running this controller cause communication constraint violation on Franka FR3

[lusu8892]

Hi Cenk

I tried bring up your controller on Franka FR3 but consistently getting communication constraints violation every 30s. Here is my setup:

Franka system: 5.6.0
Franka_ros2: v0.1.15
franka_description: v0.4.0
libfranka: v0.13.3
Linux running real-time kernal
ROS humble
ROS control running at 1k.

I have zero issue with running ROS JTC on Franka FR3 with the above setup, I also got zero error when running controllers from CRISP(which is another cartesian impedance controller). I want to try yours but could not make it work.

Do you what might be wrong? Thanks